Merge branch 'main-v2' of ssh://120.27.199.238:222/Havoc420mac/mi-task into main-v2

main.py

@@ -44,7 +44,10 @@ class TaskType(Enum):
     YELLOW_LIGHT = auto()   # TODO 设定 yellow threshold
     RED_BAR = auto()        # TODO 设定 red threshold
     UP_AND_DOWN = auto()    # TODO 调整其完成从上坡到下坡
-    STONE_ROAD = auto()     # TODO 调整其完成从石板路到石板路
+    STONE_ROAD = auto()     # TODO 调整其刚好走完石板路，不浪费时间。目前估测 distance 就是 4（m）
+    #
+    MOVE_TO_LINE = auto()   # TODO 直走逼近直线测试
+    CENTER_ON_DUAL_TRACKS = auto()   # TODO 双轨道居中测试
 
 TASK = TaskType.TASK
 
@@ -99,6 +102,12 @@ def main():
         elif TASK == TaskType.STONE_ROAD:
             from task_3.task_3 import pass_stone
             pass_stone(Ctrl, msg, distance = 4, observe=False)
+        elif TASK == TaskType.MOVE_TO_LINE:
+            from base_move.move_base_hori_line import move_to_hori_line
+            move_to_hori_line(Ctrl, msg, distance = 1.1, observe=False)
+        elif TASK == TaskType.CENTER_ON_DUAL_TRACKS:
+            from base_move.center_on_dual_tracks import center_on_dual_tracks
+            center_on_dual_tracks(Ctrl, msg, max_deviation=10.0, observe=False, detect_height=0.3)
         else:
             pass
         

task_1/task_1.py

@@ -49,8 +49,8 @@ def run_task_1(ctrl, msg, time_sleep=5000):
         qr_check_interval=0.3  # 每 0.3 秒检查一次扫描结果
     )
     
-    if res and res['qr_result']:
-        success(f"在任务1-1中成功扫描到QR码: {res['qr_result']}", "扫描")
+    if res and res.get('qr_result'):
+        success(f"在任务1-1中成功扫描到QR码: {res.get('qr_result')}", "扫描")
     else:
         warning("任务1-1中未能扫描到任何QR码", "警告")
 
@@ -59,7 +59,7 @@ def run_task_1(ctrl, msg, time_sleep=5000):
     move_to_hori_line(ctrl, msg, target_distance=1.1, observe=observe)
 
     section('任务1-3：转弯', "旋转")
-    direction = False if res['qr_result'] == 'A-1' else True  # TODO 需要检查一下，这个方向是否正确
+    direction = False if res.get('qr_result') == 'A-1' else True  # TODO 需要检查一下，这个方向是否正确
     turn_success, res = arc_turn_around_hori_line(
         ctrl=ctrl,
         msg=msg,